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In many medical applications, it is necessary to precisely control a robot to achieve exact positioning. In such cases, some components of robot which had been considered rigid should be modeled with visco-elastic elements to present more exact model of robot, and hence controllers designed under the assumption of rigidity may not accurately control them, especially when time-delay and disturbances...
This paper presents advancement in microassembly and packaging automation accomplished using multiscale robotic platforms. We introduce M3 and mu3 - two unique multiscale platforms (M 3 - macro-meso-micro; mu3 $meso-micro-nano). The robots with their corresponding end-effectors are characterized in terms of accuracy, repeatability and resolution in positioning. A typical assembly application in the...
Designing and manufacturing a type of precision parallel robot for positioning, and realized 6 DOF spacial precision target positioning in micro meter scale are presented in this paper. Principle of the system is dissertated, and a high integrated and accurate control system for parallel robot is designed. All the control modules are integrated in the computer. Based on the research of the parallel...
In this paper, the positioning of a piezo-driven xy table system via a fuzzy mixed H2/Hinfin optimization-based decentralized model reference control is developed. Each subsystem contained 6 linear pulse transfer function systems (LPTFSs). The reference model for every LPTFS was first designed to shape the response of the closed-loop of the ith subsystem. Then the H2 - norm of the output error and...
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